gaussian-white-noise.hpp

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#ifndef SENSORSIMULATIONGAUSSIANWHITENOISEHPP
#define SENSORSIMULATIONGAUSSIANWHITENOISEHPP
 
#include <state-observation/api.h>
#include <state-observation/noise/noise-base.hpp>
 
namespace stateObservation
{

 
class STATE_OBSERVATION_DLLAPI GaussianWhiteNoise : public NoiseBase
{
public:
  virtual ~GaussianWhiteNoise() {}

  GaussianWhiteNoise(Index dimension);

  GaussianWhiteNoise();

  virtual Vector getNoisy(const Vector &);

  virtual void setStandardDeviation(const Matrix & std);

  virtual void setCovarianceMatrix(const Matrix & cov);

  virtual void setBias(const Vector & bias);

  virtual void setDimension(Index dim_);

  virtual Index getDimension() const;

  void setSumFunction(void (*sum)(const Vector & stateVector, const Vector & tangentVector, Vector & result));
 
protected:
  virtual void checkMatrix_(const Matrix & m) const;
 
  virtual void checkVector_(const Vector & v) const;
 
  Index dim_;
 
  Matrix std_;
 
  Vector bias_;
 
  Vector noisy_;
 
  void (*sum_)(const Vector & stateVector, const Vector & tangentVector, Vector & result);
};
 
} // namespace stateObservation
 
#endif // SENSORSIMULATIONGAUSSIANWHITENOISEHPP